arXiv subjects

Yiguang Hong

Publications and source records attributed to Yiguang Hong.

At least 19 recordsLinked to original sources

arXiv2026

Equilibrium analysis of three-player General Lotto game with leader-follower framework

In this paper, we introduce the General Lotto game with a regulator (R-Lotto), a leader-follower extension of the classical two-player General Lotto game. The model captures regulatory interventions in competitive resource allocation, where a regulator first chooses an intervention parameter to influence the subsequent competition between two resource-constrained followers. The intervention parameter represents favoritism toward one of the followers, and the followers then play a general Lotto subgame with favoritism. We derive the followers' equilibrium payoff and characterize the Nash--Stackelberg equilibrium (NSE) intervention of the regulator. We further develop a multi-battlefield R-Lotto model with a regulator budget constraint. In this setting, the follower subgames on different battlefield is decoupled, while the regulator's intervention decisions are coupled through a common budget. Numerical simulations demonstrate the proposed equilibrium characterizations and provide practical decision-making guidance for the regulator.

cs.GT↗

arXiv2026

SAGE: A Socially-Aware Generative Engine for Heterogeneous Multi-Agent Navigation

Safe and socially compliant navigation in open human-robot environments requires robots to reason about heterogeneous participants with different dynamics, autonomy levels, and social roles. Existing trajectory prediction and planning methods often rely on homogeneous interaction assumptions or enforce only geometric collision constraints, making it difficult to jointly model asymmetric interactions, coupled prediction-planning, and soft social norms. This paper proposes SAGE, a socially-aware generative engine for heterogeneous multi-agent navigation. SAGE represents robots and surrounding entities as a directed heterogeneous graph and employs a Heterogeneous Graph Transformer (HGT) to encode type-specific asymmetric interactions. Conditioned on the resulting context, a diffusion-based generative module jointly models future entity trajectories and robot trajectory plans. During inference, a training-free safety-social energy guidance mechanism refines sampled robot trajectories using differentiable collision, kinematic, task-progress, and role-conditioned social-compliance terms. Extensive experiments on real-world (ETH/UCY and SDD) and synthetic datasets verify the effectiveness of SAGE in improving safety and social compliance while maintaining task performance. The proposed guidance mechanism consistently reduces collision and social-violation rates, scales to teams of up to 20 robots, and enables explicit control of the safety-accuracy-task trade-off without retraining. These findings demonstrate the potential of SAGE as a scalable framework for socially-aware multi-agent navigation in complex environments.

cs.RO↗

arXiv2026

DRIFT: Risk-Constrained Diffusion with Imitation Priors for Mixed-Autonomy Traffic Generation

Future intelligent transportation systems are envisioned to evolve toward a long-term mixed-autonomy paradigm, where human-driven vehicles (HVs) and autonomous vehicles (AVs) coexist within highly coupled traffic ecosystems. Such coexistence introduces pronounced heterogeneity, amplified uncertainty, and increasingly intricate interaction dynamics. In this context, it remains fundamentally challenging to simultaneously capture the heterogeneous behavioral distribution shifts arising from dynamic AV penetration, generate diverse yet executable trajectories under strong inter-vehicle coupling, and conduct reliable closed-loop safety and stability diagnostics for rare but high-impact events. To this end, we present Diffusion with Risk constraints, Imitation priors, and long-tail Feedback for mixed-autonomy Traffic generation (DRIFT), a mixed-autonomy traffic generation framework that unifies heterogeneity-aware conditional encoding, conditional diffusion-based executable trajectory generation, and progressive adversarial alignment enhanced by risk-aware long-tail feedback, thereby enabling traffic behaviors to be iteratively generated, filtered, selected, and validated within a closed-loop execution pipeline. In addition, a unified evaluation protocol is developed to jointly characterize safety, efficiency, and closed-loop stability across representative traffic scenarios and AV penetration regimes. Experimental results demonstrate that DRIFT achieves a strong safety-efficiency trade-off in closed-loop mixed-autonomy benchmarks, while further revealing the critical influence of candidate executability, online selection, and long-tail feedback on executable traffic evolution.

cs.DC↗

arXiv2026

Zero-determinant Strategy for Moving Target Defense: Existence, Performance, and Computation

Moving Target Defense (MTD) is commonly formulated as a repeated security game to mitigate persistent threats. Although the strong Stackelberg equilibrium (SSE) characterizes the defender's optimal strategy in the leader-follower framework, computing the SSE often incurs high computational complexity, which significantly limits its practical deployment in MTD problems with multiple targets. This paper proposes adopting a zero-determinant (ZD) strategy for constructing an MTD strategy that achieves both high defensive performance and substantially low computational complexity. We first derive a necessary and sufficient condition for the existence of ZD strategies and investigate the performance of ZD strategies, which shows their upper-bound performance matches that of the SSE strategy. We then formulate two programs to find the optimal ZD strategy parameters under different conditions. Moreover, we design an algorithm to compute the proposed ZD strategies, along with the computational complexity analysis in comparison with the traditional SSE computation. Finally, we conduct experiments on two practical applications to verify our results.

cs.GT↗

arXiv2026

Revealing Strategic Interactions in Network Games Under Decaying Active Probing

Revealing the interaction topology underlying strategic behavior is fundamental to prediction, intervention, and policy design in networked systems. Yet the interaction matrix is often unobservable, and passive observation of repeated actions fails to provide sufficient excitation for reliable recovery. This paper studies topology recovery in repeated linear-quadratic network games under decaying active probing, where probing inputs are injected into a subset of players and the unknown interaction matrix is inferred from the resulting action trajectories. We first characterize a structural recoverability condition that determines when noiseless probing experiments can make the interaction matrix identifiable. We then show that, under suitable stability and controllability assumptions, a concrete decaying probing signal guarantees exact finite-step recovery while preserving convergence of the repeated-play process. To handle decision perturbations, we further develop a reweighted sparse estimator that achieves almost-sure consistency together with finite-time exact support recovery. These results clarify what can be recovered in both noiseless and perturbed settings.

math.OC↗

arXiv2026

Intensity-guided pose-free multiview fusion for single photon sensing

Single-photon light detection and ranging (LiDAR) extends active three-dimensional sensing at the fundamental level and has found applications in extreme environments involving long-range operation, low-reflectance targets, and adverse visibility. However, the acquired measurements often give rise to single-photon point clouds that are sparse, spatially non-uniform, and corrupted by outliers and depth distortions, making multi-view registration challenging especially when sensor poses are not accurately known. In this work, we present a geometry-intensity coupled registration framework (GIC-Reg) of pose-free multi-view fusion for single-photon sensing. It is established by combining physical-aware preprocessing, joint geometry-intensity grid feature aggregation, global matching, and local ambiguity disambiguation to estimate inter-view rigid transformations and hence to construct a globally consistent reconstruction. On the synthetic benchmark, it admits the lowest relative rotation error (RRE), relative translation error, and root mean square error across all background-noise and dropout rates, in comparison to baselines. Notably, under the most degraded dropout, it reduces the RRE from $13.167^\circ$ to $8.459^\circ$ compared with the learning-based baseline. Furthermore, experimental results on real multi-view data acquired at about 80~m show that it achieves more reliable global orientation and local alignment. Our results show that photon intensity provides an effective physical cue for stabilizing multiview registration in single-photon point cloud, and thus our work aids significant progress in exploring practical utility of single-photon sensing.

physics.optics↗

arXiv2026

Look One Step Ahead: Forward-Looking Incentive Design with Strategic Privacy for Proactive Service Provisioning over Air-Ground Integrated Edge Networks

In air-ground integrated networks (AGINs), unmanned aerial vehicles (UAVs) provide on-demand edge services to ground vehicles. Realizing this vision requires carefully designed incentives to coordinate interactions among self-interested participants. This is exacerbated by the dynamic nature of AGINs, where spatio-temporal variations introduce significant uncertainty in matching UAVs and vehicles. Existing real-time service provisioning typically relies on precise trajectory information, raising privacy concerns and incurring decision latency. To address these challenges, we propose look one-step ahead (LOSA), a novel framework for efficient and privacy-aware service provisioning. By exploiting predictable vehicle travel times between intersections, LOSA decomposes the process into two coupled phases: (i) a privacy-aware look-ahead phase and (ii) a lightweight real-time execution phase. The look-ahead phase allows vehicles to adaptively adjust privacy budgets based on historical utility, balancing trajectory exposure and matching accuracy. Leveraging this, a double auction mechanism establishes binding one-step-ahead agreements (OSAAs) through trajectory similarity clustering, while constructing preference lists to hedge against mobility uncertainty. The execution phase then enforces pre-established OSAAs and preference lists, resolving real-time resource conflicts without costly re-negotiations. This design reduces computational overhead and preserves robustness. We analytically corroborate that LOSA guarantees truthfulness, individual rationality, and budget balance. Experiments on real-world datasets (DAIR-V2X, HighD, and RCooper) demonstrate that LOSA achieves superior privacy protection while lowering transaction latency compared to baseline approaches.

cs.NI↗

arXiv2026

Unified Communication Compression Beyond Global Error Bounds for Distributed Nonconvex Optimization

In this paper, we propose a unified compression algorithm for distributed nonconvex opitmization with both the locally- and globally-bounded communication compressors, including 1-bit compressors, saturating quantizers, and the globally-bounded compressors with both relative and absolute compression errors, as well as additional arbitrary bounded noise. We provide a rigorous convergence analysis in nonconvex settings and establish linear convergence under the Polyak-Lojasiewicz (P-L) condition. Notably, we establish an $\mathcal{O}(1/\sqrt{T})$ convergence rate for the locally-bounded class in the distributed nonconvex setting, matching that achieved by the centralized algorithms with 1-bit compressors, where $T$ denotes the total number of iterations. Moreover, one initial uncompressed communication round further yields an order-wise improvement to $\mathcal{O}(1/T^{2/3})$. For the P-L setting and the globally-bounded class, we recover state-of-the-art convergence rates.

math.OC↗

arXiv2026

Deception Equilibrium Analysis for Three-Party Stackelberg Game with Insider

This paper investigates strategic interactions within a three party deception security game involving a defender, an insider, and external attackers. We propose a robust deception mechanism where the leader manipulates game parameters perceived by followers to enhance defense performance when followers operate under misperceived and uncertain observation. Specifically, we propose a unified three party leader follower game framework and introduce the concepts of Deception Stackelberg equilibria (DSE) and Hyper Nash equilibria (HNE), which generalize classical two-player Stackelberg and deception games. We develop necessary and sufficient conditions for the consistency between DSE and HNE, ensuring that the defender's utility remains invariant when the hierarchical structure degenerates into a simultaneous-move scenario. Moreover, we propose a scalable hypergradient-based algorithm with established convergence guarantees for seeking DSE, efficiently addressing the computational challenges posed by non-smooth and set-valued best-response mappings. Finally, we apply theoretical analysis to practical scenarios in secure wireless communication and defense against insider-assisted false data injection attacks.

cs.GT↗

arXiv2026

Masking Intent, Sustaining Equilibrium: Risk-Aware Potential-Game-Based Service Provision in Dynamic Mobile Crowdsensing

Mobile crowdsensing (MCS) is evolving from basic data collection to dynamic service provisioning, where platforms must maintain task completion, budget feasibility, and sensing quality under uncertain worker availability. Beyond raw-data and location privacy, workers' long-term intent traces, such as task-selection tendencies and participation histories, can be exploited by an honest-but-curious platform to infer private preferences from one or multiple allocation snapshots. Worker dropouts and execution uncertainty further destabilize sensing coverage, while frequent global re-optimization increases interaction overhead and observable exposure. To address these issues, we propose \textit{iParts}, an intent-preserving and risk-aware two-stage service provisioning framework for dynamic MCS. In the offline stage, workers report perturbed intent vectors through personalized local differential privacy with memoized permanent randomized response, suppressing frequency-based intent inference while retaining decision utility. The platform then builds a redundancy-aware quality model and performs risk-aware pre-planning under budget, quality-risk, and intent-mismatch constraints. This offline problem is formulated as an exact potential game with expected social welfare as the potential function, guaranteeing constrained equilibrium existence and finite-step convergence under feasible improvement dynamics. In the online stage, quality deficits are repaired through bounded-round temporary recruitment from idle or standby workers, enabling feasibility-preserving adjustment with limited exposure. Experiments show that iParts improves welfare and task completion while reducing redundancy and communication overhead against representative benchmarks.

cs.NI↗

arXiv2026

ContactGaussian-WM: Learning Physics-Grounded World Model from Videos

Developing world models that understand complex physical interactions is essential for advancing robotic planning and simulation.However, existing methods often struggle to accurately model the environment under conditions of data scarcity and complex contact-rich dynamic motion.To address these challenges, we propose ContactGaussian-WM, a differentiable physics-grounded rigid-body world model capable of learning intricate physical laws directly from sparse and contact-rich video sequences.Our framework consists of two core components: (1) a unified Gaussian representation for both visual appearance and collision geometry, and (2) an end-to-end differentiable learning framework that differentiates through a closed-form physics engine to infer physical properties from sparse visual observations.Extensive simulations and real-world evaluations demonstrate that ContactGaussian-WM outperforms state-of-the-art methods in learning complex scenarios, exhibiting robust generalization capabilities.Furthermore, we showcase the practical utility of our framework in downstream applications, including data synthesis and real-time MPC.

cs.RO↗

arXiv2026

Heterogeneous Distributed Zeroth-Order Nonconvex Optimization with Communication Compression

Distributed zeroth-order optimization is increasingly applied in heterogeneous scenarios where agents possess distinct data distributions and objectives. This heterogeneity poses fundamental challenges for convergence analysis, as existing convergence analyses rely on relatively strong assumptions to ensure theoretical guarantees. Specifically, at least one of the following three assumptions is usually required: (i) data homogeneity across agents, (ii) $\mathcal{O}(pn)$ function evaluations per iteration with $p$ denoting the dimension and $n$ the number of agents, or (iii) the Polyak--{\L}ojasiewicz (P--L) or strong convexity condition with a known corresponding constant. To overcome these limitations, we propose a Heterogeneous Distributed Zeroth-Order Compressed (HEDZOC) algorithm, which is based on a two-point zeroth-order gradient estimator and a general class of compressors. Without assuming data homogeneity, we develop the analysis covering three settings: general nonconvex functions, functions satisfying the P--L condition without knowing the P--L constant, and those with a known constant. To the best of our knowledge, the proposed HEDZOC algorithm is the first distributed zeroth-order method that establishes convergence without relying on the above three assumptions. Moreover, it achieves linear speedup convergence rate, which is comparable to state-of-the-art results attainable under data homogeneity and exact communication assumptions. Finally, experiments on heterogeneous adversarial example generation validate the theoretical results.

math.OC↗

arXiv2026

Extremum Seeking Nonovershooting Control of Strict-Feedback Systems Under Unknown Control Direction

This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking with Lie bracket-based design to achieve approximately nonovershooting tracking. The approach ensures that arbitrary reference trajectories can be tracked from below for any initial condition, with the overshoot reducible to arbitrarily small levels through parameter tuning. The method further provides a mechanism for enforcing high-relative-degree nonovershooting constraints in safety-critical scenarios involving unknown control directions.

eess.SY↗

arXiv2025

FUSION: Forecast-Embedded Agent Scheduling with Service Incentive Optimization over Distributed Air-Ground Edge Networks

In this paper, we introduce a first-of-its-kind forecasting-driven, incentive-aware service provisioning framework for distributed air-ground integrated networks that explicitly accounts for human-machine coexistence. In our framework, vehicular-UAV agent pairs (APs) are proactively dispatched to overloaded hotspots to augment the computing capacity of edge servers (ESs), which in turn gives rise to a set of challenges that we jointly address: highly uncertain spatio-temporal workloads, spatio-temporal coupling between road traffic and UAV capacity, forecast-driven contracting risks, and heterogeneous quality-of-service (QoS) requirements of human users (HUs) and machine users (MUs). To address these challenges, we propose FUSION, a two-stage optimization framework, consisting of an offline stage and an online stage. In the offline stage, a liquid neural network-powered module performs multi-step spatio-temporal demand forecasting at distributed ESs, whose outputs are exploited by an enhanced ant colony optimization-based routing scheme and an auction-based incentive-aware contracting mechanism, to jointly determine ES-AP contracts and pre-planned service routes. In the online stage, we model congestion-aware task scheduling as a service demander-side exact-potential game, where HUs and MUs select either local execution or accessible ES/UAV resources, and develop a potential-guided best-response dynamics algorithm that converges to an \varepsilon-NE under a positive improvement threshold and to a pure-strategy Nash equilibrium when the threshold is zero. Experiments on both synthetic and real-world datasets show that FUSION consistently achieves higher social welfare and improved resource utilization, while maintaining latency and energy costs comparable to state-of-the-art baselines and preserving individual rationality, budget balance, and near-truthfulness.

cs.NI↗

arXiv2025

Feasible-Set Reshaping for Constraint Qualification in Optimization-Based Control

This paper presents a novel feasible-set reshaping technique to optimization-based control with ensured constraint qualification. In our problem setting, the feasible set of admissible control inputs depends on the real-time state of the plant, and the linear independence constraint qualification (LICQ) may not be satisfied in some regions of interest. By feasible-set reshaping, we project the constraints of the original feasible set onto an appropriately chosen constant matrix with its rows forming a positive span of the space of the optimization variable. It is proved that the reshaped feasible set is nonempty and satisfies LICQ, as long as the original feasible set is nonempty. The effectiveness of the proposed method is verified by constructing Lipschitz continuous quadratic-program-based (QP-based) controllers based on the reshaped feasible sets.

eess.SY↗

arXiv2025

Safety Margins of Inverse Optimal ISSf Controllers

We investigate the gain margin of a general nonlinear system under an inverse optimal input-to-state safe (ISSf) controller of the form u=u0(x)+u*(x,u0), where u0 is the nominal control and u* is the inverse optimal safety filter that minimally modifies the nominal controller's unsafe actions over the infinite horizon. By first establishing a converse ISSf-BF theorem, we reveal the equivalence among the achievability of ISSf by feedback, the achievability of inverse optimality, and the solvability of a Hamilton-Jacobi-Isaacs equation associated with the inverse optimal ISSf gain assignment. Then we develop a collection of safety margin results on the overall control u=u0+u*. In the absence of disturbances, we find that standard inverse optimal safe controllers have a certain degree of gain margin. Specifically, when f(x) acts safely but u0 acts unsafely, the gain can be decreased by up to half; and when f(x) acts unsafely, we establish that, if u0 acts safely, the gain can be increased arbitrarily, whereas if u0 acts unsafely, the control recovers the full gain margin [1/2,inf). It is shown, however, that under control gain variation, the safe set of these controllers is locally asymptotically stable, which implies that their safety is sensitive to large but bounded disturbances. To make inverse optimal ISSf controllers robust to gain variation, we propose a gain margin improvement approach at the expense of an increased control effort. This improvement allows the inverse optimal safe control to inherit the standard gain margin of [1/2,inf) without requiring prior knowledge of whether f(x) or u0 acts safely on the safety boundary, while simultaneously ensuring global asymptotic stability of the resulting safe set. In the presence of disturbances, this improvement idea renders inverse optimal ISSf controllers robust to gain variations with the same gain margin of [1/2,inf).

eess.SY↗

arXiv2025

Hypergame-based Cognition Modeling and Intention Interpretation for Human-Driven Vehicles in Connected Mixed Traffic

With the practical implementation of connected and autonomous vehicles (CAVs), the traffic system is expected to remain a mix of CAVs and human-driven vehicles (HVs) for the foreseeable future. To enhance safety and traffic efficiency, the trajectory planning strategies of CAVs must account for the influence of HVs, necessitating accurate HV trajectory prediction. Current research often assumes that human drivers have perfect knowledge of all vehicles' objectives, an unrealistic premise. This paper bridges the gap by leveraging hypergame theory to account for cognitive and perception limitations in HVs. We model human bounded rationality without assuming them to be merely passive followers and propose a hierarchical cognition modeling framework that captures cognitive relationships among vehicles. We further analyze the cognitive stability of the system, proving that the strategy profile where all vehicles adopt cognitively equilibrium strategies constitutes a hyper Nash equilibrium when CAVs accurately learn HV parameters. To achieve this, we develop an inverse learning algorithm for distributed intention interpretation via vehicle-to-everything (V2X) communication, which extends the framework to both offline and online scenarios. Additionally, we introduce a distributed trajectory prediction and planning approach for CAVs, leveraging the learned parameters in real time. Simulations in highway lane-changing scenarios demonstrate the proposed method's accuracy in parameter learning, robustness to noisy trajectory observations, and safety in HV trajectory prediction. The results validate the effectiveness of our method in both offline and online implementations.

eess.SY↗

arXiv2025

Active Inverse Methods in Stackelberg Games with Bounded Rationality

Inverse game theory is utilized to infer the cost functions of all players based on game outcomes. However, existing inverse game theory methods do not consider the learner as an active participant in the game, which could significantly enhance the learning process. In this paper, we extend inverse game theory to active inverse methods. For Stackelberg games with bounded rationality, the leader, acting as a learner, actively chooses actions to better understand the follower's cost functions. First, we develop a method of active learning by leveraging Fisher information to maximize information gain about the unknown parameters and prove the consistency and asymptotic normality. Additionally, when leaders consider its cost, we develop a method of active inverse game to balance exploration and exploitation, and prove the consistency and asymptotic Stackelberg equilibrium with quadratic cost functions. Finally, we verify the properties of these methods through simulations in the quadratic case and demonstrate that the active inverse game method can achieve Stackelberg equilibrium more quickly through active exploration.

cs.GT↗